A "Time of Arrival" factor - so little code seems hardly worth it :-) More...

#include <TOAFactor.h>

Inheritance diagram for gtsam::TOAFactor:

Public Member Functions
	TOAFactor (const Expression< Event > &eventExpression, const Expression< Point3 > &sensorExpression, double toaMeasurement, const SharedNoiseModel &model, double speed=330)

	TOAFactor (const Expression< Event > &eventExpression, const Point3 &sensor, double toaMeasurement, const SharedNoiseModel &model, double speed=330)

Public Member Functions inherited from gtsam::ExpressionFactor< double >
gtsam::NonlinearFactor::shared_ptr	clone () const override

bool	equals (const NonlinearFactor &f, double tol) const override
	equals relies on Testable traits being defined for T More...

	ExpressionFactor (const SharedNoiseModel &noiseModel, const double &measurement, const Expression< double > &expression)

std::shared_ptr< GaussianFactor >	linearize (const Values &x) const override

const double &	measured () const

void	print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
	print relies on Testable traits being defined for T More...

virtual Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const =0

Vector	unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override

Vector	unwhitenedError (const Values &x, std::vector< Matrix > &H) const

	~ExpressionFactor () override
	Destructor. More...

Static Public Member Functions
static void	InsertEvent (Key key, const Event &event, std::shared_ptr< Values > values)

Additional Inherited Members
Public Types inherited from gtsam::ExpressionFactor< double >
typedef std::shared_ptr< ExpressionFactor< double > >	shared_ptr

Protected Types inherited from gtsam::ExpressionFactor< double >
typedef ExpressionFactor< double >	This

Protected Member Functions inherited from gtsam::ExpressionFactor< double >
virtual Expression< double >	expression () const

	ExpressionFactor ()

	ExpressionFactor (const SharedNoiseModel &noiseModel, const double &measurement)
	Default constructor, for serialization. More...

void	initialize (const Expression< double > &expression)
	Initialize with constructor arguments. More...

Protected Attributes inherited from gtsam::ExpressionFactor< double >
FastVector< int >	dims_
	dimensions of the Jacobian matrices More...

Expression< double >	expression_
	the expression that is AD enabled More...

double	measured_
	the measurement to be compared with the expression More...

Static Protected Attributes inherited from gtsam::ExpressionFactor< double >
static const int	Dim

Detailed Description

A "Time of Arrival" factor - so little code seems hardly worth it :-)

Definition at line 28 of file TOAFactor.h.

Member Typedef Documentation

private

Definition at line 29 of file TOAFactor.h.

inline

Most general constructor with two expressions

Parameters

eventExpression	expression yielding an event
sensorExpression	expression yielding a sensor location
toaMeasurement	time of arrival at sensor
model	noise model
speed	optional speed of signal, in m/sec

Definition at line 40 of file TOAFactor.h.

inline

Constructor with fixed sensor

Parameters

eventExpression	expression yielding an event
sensor	a known sensor location
toaMeasurement	time of arrival at sensor
model	noise model
toa	optional time of arrival functor

Definition at line 55 of file TOAFactor.h.

static void gtsam::TOAFactor::InsertEvent	(	Key	key,
		const Event &	event,
		std::shared_ptr< Values >	values
	)

inlinestatic

Definition at line 61 of file TOAFactor.h.

The documentation for this class was generated from the following file: